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With respect to the application background, a further analysis of the special PM is carried out from the perspective of motion\/force transmissibility, natural frequency and acceleration capability. Specially, the complete dynamics model is established based on the Kane method. Then, generalized transmission indices based on the screw theory are utilized to reflect its motion ability, and a model of natural frequency is proposed with the axial stiffness of linkages considered. Finally, the effect of the angle between the actuator direction and the linkage direction<jats:italic>\u03b1<\/jats:italic>on various performances is analyzed, and other results are included to illustrate its feasibility and usability.<\/jats:p>","DOI":"10.1017\/s0263574721000655","type":"journal-article","created":{"date-parts":[[2021,6,14]],"date-time":"2021-06-14T07:16:21Z","timestamp":1623654981000},"page":"505-519","source":"Crossref","is-referenced-by-count":9,"title":["Performance evaluation of a special 6-<u>P<\/u>US type parallel manipulator"],"prefix":"10.1017","volume":"40","author":[{"given":"Xiaochu","family":"Liu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1204-2991","authenticated-orcid":false,"given":"Yunfei","family":"Cai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Weitian","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Linlong","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chengxin","family":"Hu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,6,14]]},"reference":[{"key":"S0263574721000655_ref6","doi-asserted-by":"publisher","DOI":"10.1007\/BF03185151"},{"key":"S0263574721000655_ref4","first-page":"395","article-title":"Rigid body dynamics model of the 6-PUS parallel mechanism based on Newton-Euler method","volume":"26","author":"Kong","year":"2004","journal-title":"Robot."},{"key":"S0263574721000655_ref20","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709990403"},{"key":"S0263574721000655_ref32","first-page":"1991","article-title":"Dynamic performance comparison of the 8PSS redundant parallel manipulator and its non-redundant counterpart-the 6PSS parallel manipulator","volume":"445","author":"Zhao","year":"2009","journal-title":"Mech. 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